Stir the yeast into the warm milk and let sit for 5–10 minutes until foamy. Mix in the honey, melted butter, egg, and salt. Gradually add the flour and knead until a soft, smooth dough forms.
Cover and let rise until doubled in size, about 1 hour. Roll the dough out, cut into rolls, and place on a greased or parchment-lined baking sheet. Cover and let rise again for about 30–45 minutes.
Bake at 350°F for 12–15 minutes, or until golden brown. Brush the warm rolls with melted butter if desired